diff --git a/.travis.yml b/.travis.yml
index 82410601..3121258d 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,25 +1,24 @@
 # Stdr Simulator Travis Continuous Integration Configuration File
 # Author: Christos Zalidis
+# Maintained: Greg Lee (CWRU)
 sudo: required
-dist: trusty
+dist: foxy
 language: generic
 compiler:
   - gcc
 notifications:
   email:
     recipients:
-      - etsardou@gmail.com
-      - zalidis@gmail.com
-      - aris.thallas@gmail.com
+      - leegs@case.edu
     on_success: change #[always|never|change] # default: change
     on_failure: change #[always|never|change] # default: always
 before_install: # Use this to prepare the system to install prerequisites or dependencies
   # Define some config vars
-  - export ROS_DISTRO=indigo
+  - export ROS_DISTRO=noetic
   - export CI_SOURCE_PATH=$(pwd)
   - export REPOSITORY_NAME=${PWD##*/}
   - echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
-  - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
+  - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu foxy main" > /etc/apt/sources.list.d/ros-latest.list'
   - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
   - sudo apt-get update -qq
   - sudo apt-get install -qq -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin ros-$ROS_DISTRO-ros
diff --git a/stdr_gui/CMakeLists.txt b/stdr_gui/CMakeLists.txt
index 6e4ce682..1520431c 100644
--- a/stdr_gui/CMakeLists.txt
+++ b/stdr_gui/CMakeLists.txt
@@ -17,15 +17,16 @@ include_directories( include
   ${catkin_INCLUDE_DIRS}
 )
 
-find_package(Qt4 REQUIRED COMPONENTS
-  QtCore
-  QtGui
-  QtUiTools
+find_package(Qt5 REQUIRED COMPONENTS
+  Core
+  Gui
+  UiTools
+  Widgets
 )
 
 ADD_DEFINITIONS(-DQT_NO_KEYWORDS)
 
-include(${QT_USE_FILE})
+#include(${QT_USE_FILE})
 
 include_directories(
   ${CMAKE_CURRENT_BINARY_DIR}
@@ -33,7 +34,10 @@ include_directories(
 
 catkin_package(
   DEPENDS
-    QT
+    Qt5Core
+    Qt5Gui
+    Qt5UiTools
+    Qt5Widgets
   CATKIN_DEPENDS
     roscpp
     roslib
@@ -44,6 +48,7 @@ catkin_package(
     stdr_parser
     sensor_msgs
     nav_msgs
+    qt_gui
   #INCLUDE_DIRS
   #LIBRARIES
 )
@@ -60,7 +65,7 @@ set(QT_FORMS
   ui/thermalSensorProperties.ui ui/soundSensorProperties.ui
 )
 
-QT4_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
+qt5_wrap_ui(QT_FORMS_HPP ${QT_FORMS})
 
 QT_WRAP_CPP(stdr_gui_node SAMPLE_MOC_SRCS include/stdr_gui/stdr_gui_controller.h)
 QT_WRAP_CPP(stdr_gui_node SAMPLE_MOC_SRCS include/stdr_gui/stdr_gui_connector.h)
@@ -115,7 +120,10 @@ add_executable(stdr_gui_node
 add_dependencies(stdr_gui_node ${stdr_msgs_EXPORTED_TARGETS})  # Wait for stdr_msgs to build
 target_link_libraries(stdr_gui_node
   ${catkin_LIBRARIES}
-  ${QT_LIBRARIES}
+  ${Qt5Core_LIBRARIES}
+  ${Qt5Gui_LIBRARIES}
+  ${Qt5UiTools_LIBRARIES}
+  ${Qt5Widgets_LIBRARIES}
 )
 
 # Install launch files
diff --git a/stdr_gui/include/stdr_gui/stdr_tools.h b/stdr_gui/include/stdr_gui/stdr_tools.h
index 9ecd89e5..62629b7b 100644
--- a/stdr_gui/include/stdr_gui/stdr_tools.h
+++ b/stdr_gui/include/stdr_gui/stdr_tools.h
@@ -36,33 +36,34 @@
 #include <QtCore/QTimer>
 #include <QtCore/QTime>
 
-#include <QtGui/QMenu>
-#include <QtGui/QApplication>
-#include <QtGui/QCheckBox>
-#include <QtGui/QComboBox>
-#include <QtGui/QDoubleSpinBox>
+#include <QtWidgets/QMenu>
+#include <QtWidgets/QApplication>
+
+#include <QtWidgets/QCheckBox>
+#include <QtWidgets/QComboBox>
+#include <QtWidgets/QDoubleSpinBox>
 #include <QtGui/QImage>
-#include <QtGui/QFileDialog>
-#include <QtGui/QLabel>
-#include <QtGui/QLineEdit>
-#include <QtGui/QListWidget>
+#include <QtWidgets/QFileDialog>
+#include <QtWidgets/QLabel>
+#include <QtWidgets/QLineEdit>
+#include <QtWidgets/QListWidget>
 #include <QtGui/QPainter>
 #include <QtGui/QPixmap>
-#include <QtGui/QProgressBar>
-#include <QtGui/QPushButton>
-#include <QtGui/QRadioButton>
-#include <QtGui/QScrollBar>
-#include <QtGui/QStatusBar>
-#include <QtGui/QTextEdit>
-#include <QtGui/QTreeWidget>
-#include <QtGui/QVBoxLayout>
-#include <QtGui/QWidget>
-#include <QtGui/QWindowsStyle>
-#include <QtGui/QInputDialog>
+#include <QtWidgets/QProgressBar>
+#include <QtWidgets/QPushButton>
+#include <QtWidgets/QRadioButton>
+#include <QtWidgets/QScrollBar>
+#include <QtWidgets/QStatusBar>
+#include <QtWidgets/QTextEdit>
+#include <QtWidgets/QTreeWidget>
+#include <QtWidgets/QVBoxLayout>
+#include <QtWidgets/QWidget>
+//#include <QtWidgets/QWindowsStyle>
+#include <QtWidgets/QInputDialog>
 #include <QtGui/QMouseEvent>
-#include <QtGui/QMessageBox>
-#include <QtGui/QTimeEdit>
-#include <QtGui/QInputDialog>
+#include <QtWidgets/QMessageBox>
+#include <QtWidgets/QTimeEdit>
+#include <QtWidgets/QInputDialog>
 #include <QtGui/QFont>
 
 #include <stdr_msgs/RobotIndexedVectorMsg.h>
diff --git a/stdr_gui/package.xml b/stdr_gui/package.xml
index 11656142..ab95cb6a 100644
--- a/stdr_gui/package.xml
+++ b/stdr_gui/package.xml
@@ -26,8 +26,15 @@
   <depend>sensor_msgs</depend>
   <depend>nav_msgs</depend>
 
-  <build_depend>libqt4-dev</build_depend>
-  <exec_depend>libqt4</exec_depend>
+  <build_depend>libqt5-core</build_depend>
+  <build_depend>libqt5-gui</build_depend>
+  <build_depend>libqt5-widgets</build_depend>
+  <build_depend>qt_gui</build_depend>
+  <exec_depend>libqt5-core</exec_depend>
+  <exec_depend>libqt5-gui</exec_depend>
+  <exec_depend>libqt5-widgets</exec_depend>
+  <exec_depend>qt_gui</exec_depend>
+  <exec_depend>map_server</exec_depend>
 
   <export>
   </export>
diff --git a/stdr_gui/src/stdr_gui/stdr_gui_controller.cpp b/stdr_gui/src/stdr_gui/stdr_gui_controller.cpp
index 33e3d44b..69d15552 100644
--- a/stdr_gui/src/stdr_gui/stdr_gui_controller.cpp
+++ b/stdr_gui/src/stdr_gui/stdr_gui_controller.cpp
@@ -223,9 +223,12 @@ namespace stdr_gui
       this, SLOT(robotReplaceSet(QPoint,std::string)));
     
     timer_ = new QTimer(this);
+
     connect(
       timer_, SIGNAL(timeout()), 
       this, SLOT(updateMapInternal()));
+
+    timer_->start(50);
       
     QObject::connect(
       this,SIGNAL(waitForRfidPose()),
@@ -315,6 +318,7 @@ namespace stdr_gui
       this, SIGNAL(setSoundSensorVisibility(QString,QString,char)),
       &info_connector_, SLOT(setSoundSensorVisibility(QString,QString,char)));
   }
+
   
   /**
   @brief Sets up the main window widgets
@@ -513,17 +517,18 @@ namespace stdr_gui
     
     elapsed_time_.start();
     
-    map_initialized_ = true;
+    // map_initialized_ = true;
     map_connector_.setMapInitialized(true);
     gui_connector_.setMapInitialized(true);
     
-    timer_->start(50);
+    // timer_->start(50);
     
     robot_subscriber_ = n_.subscribe(
       "stdr_server/active_robots", 
       1, 
       &CGuiController::receiveRobots,
       this);
+    map_initialized_ = true;
   }
   
   /**
@@ -1005,6 +1010,10 @@ namespace stdr_gui
   **/
   void CGuiController::updateMapInternal(void)
   {
+    if ( ! map_initialized_ )
+    {
+      return;
+    } 
     while(map_lock_)
     {
       usleep(100);
diff --git a/stdr_gui/src/stdr_gui/stdr_robot_creator/stdr_robot_creator_connector.cpp b/stdr_gui/src/stdr_gui/stdr_robot_creator/stdr_robot_creator_connector.cpp
index 5cd76430..17039220 100644
--- a/stdr_gui/src/stdr_gui/stdr_robot_creator/stdr_robot_creator_connector.cpp
+++ b/stdr_gui/src/stdr_gui/stdr_robot_creator/stdr_robot_creator_connector.cpp
@@ -1662,8 +1662,7 @@ namespace stdr_gui
       QApplication::translate(
         "Footprint point", 
         item->text(0).toStdString().c_str(), 
-        0, 
-        QApplication::UnicodeUTF8));
+        0));
     
     current_footprint_point_ = item;
     
@@ -1720,8 +1719,7 @@ namespace stdr_gui
       QApplication::translate(
         "LaserProperties", 
         item->text(0).toStdString().c_str(), 
-        0, 
-        QApplication::UnicodeUTF8));
+        0));
     
     current_laser_ = item;
     
@@ -2242,8 +2240,7 @@ namespace stdr_gui
       QApplication::translate(
         "SonarProperties", 
         item->text(0).toStdString().c_str(), 
-        0, 
-        QApplication::UnicodeUTF8));
+        0));
     
     current_sonar_ = item;
     
@@ -2287,8 +2284,7 @@ namespace stdr_gui
       QApplication::translate(
         "RfidAntennaProperties", 
         item->text(0).toStdString().c_str(), 
-        0, 
-        QApplication::UnicodeUTF8));
+        0));
     
     current_rfid_ = item;
     
@@ -2330,8 +2326,7 @@ namespace stdr_gui
       QApplication::translate(
         "CO2SensorProperties", 
         item->text(0).toStdString().c_str(), 
-        0, 
-        QApplication::UnicodeUTF8));
+        0));
     
     current_co2_sensor_ = item;
     
@@ -2370,8 +2365,7 @@ namespace stdr_gui
       QApplication::translate(
         "ThermalSensorProperties", 
         item->text(0).toStdString().c_str(), 
-        0, 
-        QApplication::UnicodeUTF8));
+        0));
     
     current_thermal_sensor_ = item;
     
@@ -2410,8 +2404,7 @@ namespace stdr_gui
       QApplication::translate(
         "SoundSensorProperties", 
         item->text(0).toStdString().c_str(), 
-        0, 
-        QApplication::UnicodeUTF8));
+        0));
     
     current_sound_sensor_ = item;
     
diff --git a/stdr_resources/resources/specifications/stdr_specifications.xml b/stdr_resources/resources/specifications/stdr_specifications.xml
index 07479edf..c6e797e6 100644
--- a/stdr_resources/resources/specifications/stdr_specifications.xml
+++ b/stdr_resources/resources/specifications/stdr_specifications.xml
@@ -24,7 +24,7 @@
   </robot>
 
   <robot_specifications>
-    <allowed>initial_pose,footprint,laser,sonar,rfid_reader,kinematic</allowed>
+    <allowed>initial_pose,footprint,laser,sonar,rfid_reader,kinematic,co2_sensor</allowed>
   </robot_specifications>
 
   <initial_pose>